Geometric Mechanics, Dynamics, and Control of Fishlike Swimming in a Planar Ideal Fluid

Abstract

We summarize the geometric treatment of locomotion in an ideal fluid in the absence of vorticity and link this work to a planar model incorporating localized vortex shedding evocative of vortex shedding from the caudal fin of a swimming fish. We present simulations of open-loop and closed-loop navigation and energy-harvesting by a Joukowski foil with variable camber shedding discrete vorticity from its trailing tip.